WCSE

Design of Human-Machine Collaborative Control Algorithm for Lower Limb Exoskeleton

Abstract— In order to improve the flexibility and coordination of the exoskeleton robot, aiming at the problems of lower limb exoskeleton’s poor adaptability to the external environment and poor humanmachine interaction, the human-machine interaction control technology of the lower limb exoskeleton system driven by flexible bowden cable is studied in this paper. Modeling the dynamics model of the lower limb exoskeleton system driven by double bowden cable, a neural network is used to identify the wearer's movement intentions on the basis of real-time control platform, and an adaptive impedance control strategy is designed to realize the human-machine dynamic coordination. The trajectory following of the exoskeleton is implemented by torque control, and the experiments of assisted walking at different speeds prove that the lower limb exoskeleton has good dynamic adjustment performance and can realize human-machine collaboration well. The evaluation experiment of the exoskeleton’s auxiliary effect is carried out, and the EMG signals prove that the human-machine collaborative control algorithm has an auxiliary effect of 5.74%-9.73%.

Index Terms— Lower limb exoskeleton; Double bowden cable; Impedance control; Human-machine collaboration.

Hao-ming Li
College of Mechanical Engineering Southeast University, China
Xing-song Wang
College of Mechanical Engineering Southeast University, China
Meng-qian Tian
College of Mechanical Engineering Southeast University, China
Jie Wang
College of Mechanical Engineering Southeast University, China

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Cite: Hao-ming Li, Xing-song Wang, Meng-qian Tian, Jie Wang, " Design of Human-Machine Collaborative Control Algorithm for Lower Limb Exoskeleton, " WCSE 2022 Spring Event: 2022 9th International Conference on Industrial Engineering and Applications, pp. 463-474, Sanya, China, April 15-18, 2022.